I've experienced something similar.
The servo had 'shrunk', effectively making the operating rod inside longer, thus partially operating the brakes. The only reason we could see for this was surface corrosion on the servo and the continual presence of a vacuum inside.
Everything we did to the braking system improved its efficiency and seemed to make the problem worse.
We eventually diagnosed it when the vehicle got stuck with the brakes firmly applied and the brake pedal off . Releasing a bleed screw resulted in a spurt of fluid under pressure. Removing and plugging the vacuum feed to the servo and emptying the vacuum reservoir allowed the vehicle to drive without any servo assistance (not recommended!)
The cure was simple as the rod had a threaded section and it just needed its length adjusting to specification.
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